%% actual model

d1 = 0.089159; d4 = 0.10915; d5 = 0.09465; d6 = 0.0823;
a3 = 0.425; a4 = 0.39225;

delta_theta1 = 0.1; delta_theta2 = 0.2; delta_theta3 = 0.3; 
delta_theta4 = -0.1; delta_theta5 = -0.2; delta_theta6 = 0.0; 

Alpha_real = [0, -pi/2, 0, 0, pi/2, -pi/2];
A_real = [0, 0, a3, a4, 0, 0];
D_real = [d1, 0, 0, d4, d5, d6];
Theta_real = [0 + delta_theta1, -pi/2 + delta_theta2, 0 + delta_theta3, pi/2 + delta_theta4, 0 + delta_theta5, 0 + delta_theta6];
Sigma_real = [1, 1, 1, 1, 1, 1];

for i = 1:6
    L(i) = Link('alpha',Alpha_real(i),'a', A_real(i),'d', D_real(i)); L(i).offset = Theta_real(i); L(i).qlim=[-pi, pi]; L(i).mdh = 1;
end

robot_real = SerialLink(L, 'name', 'UR');

DH_Para.Alpha_real = Alpha_real;
DH_Para.A_real = A_real;
DH_Para.D_real = D_real;
DH_Para.Theta_real = Theta_real;
DH_Para.Sigma_real = Sigma_real;